version: 66.13
glider: 178
mission: 22
dive: 22
start: 8 26 116 16 24 26
data:
$ID,178
$MISSION,22
$DIVE,22
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,150
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51673
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.16478
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,3
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$BR_RECORDABOVE,2000.0
$BR_PROFILE,3.0
$BR_XMITPROFILE,3.0
$BR_HONORSURFACEREQUEST,0.0
$GPS1,260816,161957,2800.9014,-8729.2734,12,1.4,45,-1.0,0.2,108.2,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-55.1
$GPS2,260816,162406,2800.9231,-8729.2744,13,1.7,13,-1.0,0.6,287.2,7,9.3
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,NODE
$TGT_LATLONG,2801.529,-8730.043
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,293.1,1684,-28.0,-11.111,-30.00,1021
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.25,-73.8,135,2476,892,816,0.0,0.0,0,100,0.00,0.00,-91.12,0.000,16386,0.000,0.000,131,2477,3136,3180,3093,0,0,0,0,0,0,26.90,28.83,26.97
$GC,102,-1.30,-101.0,131,2477,3183,3092,3.4,-8.4,15,117,6.18,2.15,-3.65,0.000,18724,0.204,1.283,1817,3774,3314,3381,3248,0,0,0,0,0,0,26.65,25.82,26.99
$GC,341,-1.30,-101.0,1815,3774,3390,3249,70.8,-17.3,52,348,0.00,1.92,0.00,0.000,1030,0.000,0.028,1817,2494,3318,3389,3248,0,0,0,0,0,0,27.15,27.04,27.17
$GC,648,-1.30,-101.0,1816,2494,3398,3248,120.0,-14.8,83,651,0.00,2.00,0.00,0.000,260,0.000,0.049,1807,3777,3322,3397,3248,0,0,0,0,0,0,27.24,27.07,27.29
$GC,876,-1.30,-101.0,1806,3779,3402,3249,154.1,-13.8,105,883,0.00,1.98,0.00,0.000,1030,0.000,0.030,1807,2467,3324,3400,3248,0,0,0,0,0,0,27.27,27.16,27.30
$GC,1182,-1.30,-101.0,1808,2467,3402,3248,195.0,-12.5,136,1185,0.00,2.10,0.00,0.000,516,0.000,0.035,1807,1089,3325,3403,3248,0,0,0,0,0,0,27.29,27.16,27.36
$GC,1367,-1.30,-101.0,1807,1090,3401,3249,219.0,-13.6,145,1370,0.08,2.12,0.00,0.000,3078,0.164,0.034,1834,2476,3325,3403,3248,0,0,0,0,0,0,27.07,27.22,27.39
$GC,1692,-1.30,-101.0,1835,2477,3403,3249,259.4,-12.1,156,1695,0.00,2.12,0.00,0.000,516,0.000,0.034,1834,1083,3325,3403,3248,0,0,0,0,0,0,27.36,27.26,27.42
$GC,1752,-1.30,-101.0,1835,1084,3404,3249,267.0,-12.5,158,1755,0.00,2.12,0.00,0.000,1030,0.000,0.034,1827,2471,3326,3404,3248,0,0,0,0,0,0,27.48,27.30,27.48
$GC,2082,-1.30,-101.0,1827,2477,3402,3249,308.1,-12.4,169,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2471,3325,3403,3248,0,0,0,0,0,0,27.45,27.52,27.51
$GC,2382,-1.30,-101.0,1827,2472,3401,3248,345.6,-12.7,179,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2471,3324,3401,3248,0,0,0,0,0,0,27.47,27.55,27.53
$GC,2682,-1.30,-101.0,1827,2472,3398,3249,382.9,-12.1,189,2685,0.00,2.08,0.00,0.000,516,0.000,0.035,1826,1081,3323,3398,3248,0,0,0,0,0,0,27.48,27.36,27.55
$GC,2812,-1.30,-101.0,1827,1085,3396,3249,398.2,-12.7,193,2816,0.00,2.10,0.00,0.000,1030,0.000,0.036,1817,2485,3321,3396,3247,0,0,0,0,0,0,27.55,27.36,27.56
$GC,3132,-1.30,-101.0,1816,2485,3395,3248,440.7,-12.7,204,3135,0.00,2.15,0.00,0.000,516,0.000,0.036,1816,1077,3320,3393,3248,0,0,0,0,0,0,27.50,27.36,27.56
$GC,3312,-1.30,-101.0,1817,1078,3392,3247,463.7,-12.8,210,3315,0.00,2.15,0.00,0.000,1030,0.000,0.036,1807,2473,3319,3391,3247,0,0,0,0,0,0,27.53,27.38,27.56
$STATE,3611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3611,begin apogee
$GC,3615,-0.20,0.0,1805,2616,3391,3245,502.8,-13.0,220,3703,1.23,0.00,81.72,0.943,10246,0.150,0.000,2187,2615,2900,2977,2824,0,0,0,0,0,0,27.25,26.10,25.34
$STATE,3704,end apogee,CONTROL_FINISHED_OK
$STATE,3704,begin climb
$GC,3706,1.30,101.0,2188,2616,2977,2824,505.1,0.0,223,3801,1.33,1.98,86.22,0.917,10500,0.063,0.050,2670,3775,2487,2555,2419,0,0,0,0,0,0,26.10,25.68,25.01
$GC,3841,1.30,101.0,2670,3776,2551,2417,493.6,11.2,227,3845,0.00,1.83,0.00,0.000,1030,0.000,0.022,2680,2546,2483,2551,2416,0,0,0,0,0,0,26.34,26.24,26.35
$GC,4152,1.30,101.0,2681,2543,2546,2410,438.9,16.2,238,4155,0.00,2.00,0.00,0.000,516,0.000,0.028,2690,1200,2477,2546,2409,0,0,0,0,0,0,26.96,26.87,27.03
$GC,4307,1.30,101.0,2688,1201,2544,2408,414.9,16.0,243,4311,0.00,2.15,0.00,0.000,1030,0.000,0.030,2690,2598,2474,2543,2406,0,0,0,0,0,0,27.12,26.97,27.15
$GC,4632,1.30,101.0,2691,2598,2540,2405,361.1,16.3,254,4635,0.00,2.12,0.00,0.000,516,0.000,0.028,2700,1202,2472,2540,2405,0,0,0,0,0,0,27.23,27.13,27.30
$GC,4772,1.30,101.0,2699,1203,2539,2404,341.7,16.1,258,4776,0.12,2.10,0.00,0.000,5126,0.191,0.030,2673,2606,2470,2538,2403,0,0,0,0,0,0,26.97,27.15,27.30
$GC,5077,1.30,101.0,2672,2606,2539,2402,291.6,15.4,268,5080,0.00,2.08,0.00,0.000,516,0.000,0.028,2681,1199,2469,2537,2401,0,0,0,0,0,0,27.34,27.23,27.41
$GC,5141,1.30,101.0,2681,1200,2536,2400,282.3,15.6,270,5145,0.00,2.12,0.00,0.000,1030,0.000,0.030,2680,2596,2468,2536,2400,0,0,0,0,0,0,27.38,27.23,27.41
$GC,5467,1.30,101.0,2681,2598,2534,2400,230.9,15.5,281,5470,0.00,2.08,0.00,0.000,516,0.000,0.028,2691,1193,2467,2534,2400,0,0,0,0,0,0,27.39,27.28,27.46
$GC,5546,1.30,101.0,2691,1193,2532,2401,221.6,15.5,283,5550,0.00,2.15,0.00,0.000,1030,0.000,0.030,2691,2606,2465,2532,2398,0,0,0,0,0,0,27.43,27.29,27.46
$GC,5857,1.30,101.0,2692,2606,2531,2398,168.8,15.8,306,5860,0.00,2.10,0.00,0.000,516,0.000,0.027,2701,1205,2464,2531,2398,0,0,0,0,0,0,27.43,27.31,27.51
$GC,6087,1.30,101.0,2700,1205,2530,2397,133.5,14.3,329,6091,0.08,2.12,0.00,0.000,5126,0.164,0.029,2663,2611,2462,2529,2396,0,0,0,0,0,0,27.16,27.33,27.50
$GC,6397,1.30,101.0,2664,2612,2529,2396,94.3,11.2,360,6401,0.00,2.10,0.00,0.000,516,0.000,0.026,2672,1179,2461,2529,2394,0,0,0,0,0,0,27.47,27.34,27.53
$GC,6621,1.39,153.6,2672,1180,2527,2395,74.3,5.8,382,6669,0.00,2.12,38.03,0.662,9254,0.000,0.027,2672,2600,2271,2337,2205,0,0,0,0,0,0,27.50,27.36,26.23
$GC,6968,1.46,187.2,2671,2596,2341,2199,38.0,7.7,429,7000,0.12,2.10,26.48,0.620,10788,0.080,0.024,2748,1197,2134,2201,2068,0,0,0,0,0,0,27.10,26.78,26.19
$GC,7040,1.49,206.0,2748,1197,2200,2063,31.4,9.2,442,7065,0.00,2.10,15.68,0.588,9254,0.000,0.027,2748,2600,2058,2125,1991,0,0,0,0,0,0,26.98,26.82,26.06
$GC,7245,1.50,211.8,2747,2601,2123,1986,13.7,10.5,482,7258,0.00,1.83,5.12,0.457,8484,0.000,0.041,2748,3768,2035,2103,1968,0,0,0,0,0,0,27.02,26.82,26.26
$STATE,7336,end climb,SURFACE_DEPTH_REACHED
$STATE,7336,begin surface coast
$FINISH,-0.0,1.022220
$STATE,7361,end surface coast,CONTROL_FINISHED_OK
$STATE,7361,begin surface
$SM_CCo,7382,125.20,0.062,0,0,861,500.17
$SM_GC,0.67,6.72,1.98,125.20,0.040,0.024,0.062,146,2447,861,-6.48,1.41,500.17,0,0,0,0,0,0,26.97,27.01,26.84
$IRIDIUM_FIX,2722.64,-8719.43,260816,162110
$TT8_MAMPS,0.065163,0.229194
$HUMID,89.81
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.10
$BR_FREEKB,7900128
$24V_AH,25.01,3.462
$10V_AH,10.39,2.548
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.850,62.250,253.250,125.200,0.000,0.000,0.000,171.525,0.000,0.000,16.336,0.000,5416.331,475.044,1754.200,114.161,0.000,1270.057,0.000,1152.225,0.000,0.000,0.000
$DEVICE_MAMPS,204.255,1282.905,943.245,61.965,0.000,0.000,0.000,84.915,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,338.416,0.000,0.000,0.000,0.000,0.000,7758.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,287584
$DATA_FILE_SIZE,20105,505
$CAP_FILE_SIZE,80666,0
$CFSIZE,260034560,255221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,351.19,1
$GPS,260816,183034,2801.797,-8730.044,34,1.1,39,-1.0,0.7,55.3,8,5.1